Joint where frame_b rotates around axis n which is fixed in frame_a. The joint axis has an additional flange where it can be driven with elements of the Modelica.Mechanics.Rotational library. The relative angle q [rad] and the relative angular velocity qd [rad/s] are used as state variables.
The following parameters are used to define the joint:
n : Axis of rotation resolved in frame_a (= same as in frame_b).
n must not necessarily be a unit vector. E.g.,
n = {0, 0, 1} or n = {1, 0, 1}
q0: Rotation angle offset in [deg].
If q=q0, frame_a and frame_b are identical.
startValueFixed: true, if start values of q, qd are fixed.